JPS624551A - Automatic drawing system of tool configuration - Google Patents

Automatic drawing system of tool configuration

Info

Publication number
JPS624551A
JPS624551A JP60140793A JP14079385A JPS624551A JP S624551 A JPS624551 A JP S624551A JP 60140793 A JP60140793 A JP 60140793A JP 14079385 A JP14079385 A JP 14079385A JP S624551 A JPS624551 A JP S624551A
Authority
JP
Japan
Prior art keywords
tool
machining
data
configuration
shape
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP60140793A
Other languages
Japanese (ja)
Other versions
JPH0611458B2 (en
Inventor
Hideaki Kawamura
川村　英昭
Teruyuki Matsumura
松村　輝幸
Takashi Iwagatani
岩ケ谷　孝
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fanuc Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Priority to JP60140793A priority Critical patent/JPH0611458B2/en
Priority to PCT/JP1986/000320 priority patent/WO1987000106A1/en
Priority to US07/026,446 priority patent/US4922440A/en
Priority to EP19860903615 priority patent/EP0229848A4/en
Priority to KR1019870700154A priority patent/KR930010590B1/en
Publication of JPS624551A publication Critical patent/JPS624551A/en
Publication of JPH0611458B2 publication Critical patent/JPH0611458B2/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/4093—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by part programming, e.g. entry of geometrical information as taken from a technical drawing, combining this with machining and material information to obtain control information, named part programme, for the NC machine
    • G05B19/40937—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by part programming, e.g. entry of geometrical information as taken from a technical drawing, combining this with machining and material information to obtain control information, named part programme, for the NC machine concerning programming of machining or material parameters, pocket machining
    • G05B19/40938—Tool management
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/35—Nc in input of data, input till input file format
    • G05B2219/35313—Display, validate tool path for boundary, surface interference
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/35—Nc in input of data, input till input file format
    • G05B2219/35317—Display tool shape, to select tool for program, or for interference
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/35—Nc in input of data, input till input file format
    • G05B2219/35401—Tool edge, tool shape, dead corner because of tool shape
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36348—Enter, edit tool, cutter data
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Landscapes

  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • Geometry (AREA)
  • Human Computer Interaction (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)
  • Machine Tool Sensing Apparatuses (AREA)

Abstract

PURPOSE:To check an interference and enable a selection of the most suitable tool, by drawing a tool configuration as well as a raw material configuration and a machining configuration in a tool selection by a tool file when an NC command data is created by use of an automatic schedule determining function. CONSTITUTION:An NC equipment comprises a CPU 1, a data input/output unit 3, a program memory 5, a data memory 6 for storing tool data and the like, and a control unit 8 for controlling drive axes of a machine tool 7. In an automatic programming, first a coordinate system is selected, then a raw material configuration is entered, a machining configuration and dimensions are entered, and then a tool is selected. In an example of a drawn cutting tool, when a parameter l as well as a cutting edge angle alpha, a lip angle beta and a mounting angle gamma are designated when the cutting edge is set to an origin of coordinates, a tool configuration as well as a raw material configuration and a machining configuration are automatically drawn, whereby an operator can find out an interference of a designated tool and the like readily.

Description

【発明の詳細な説明】 （産業上の利用分野） 本発明は、例えばコンピュータ制御のＮＧ旋盤などで、
対話形の加工プログラムにノルづきワークを所定形状に
加工するときに、使用される工具の形状を自動的に描画
する工具形状の自動描画方式（従来の技術） ワークをバイト、ドリル、フライスなどの工作機械で機
械加工する場合において、複雑で精巧な構造をした加工
物を作成するには、たとえばキーボードやディスプレイ
を利用して位置座標を決定し、数値制御（ＮＣ）用の加
工データ（プログラム指令テープ）を作成する。そして
ＮＣ装置が指令テープの加工データに基づいて工作機械
を数値制御して、ワークに所望の加工を施すものである
。Detailed Description of the Invention (Industrial Application Field) The present invention is applicable to, for example, a computer-controlled NG lathe, etc.
An automatic tool shape drawing method (conventional technology) that automatically draws the shape of the tool to be used when machining a workpiece into a predetermined shape based on an interactive machining program. When machining with a machine tool, in order to create a workpiece with a complex and elaborate structure, position coordinates are determined using a keyboard or display, and machining data (program commands) for numerical control (NC) are generated. tape). Then, the NC device numerically controls the machine tool based on the machining data on the instruction tape to perform the desired machining on the workpiece.

こうした切削加工では、加工の種類例えば穴あけ加工と
平面加工とで使用する工具が違ってくることは勿論、同
じ平面加工でも種々の形状の工具（バイト）を用意して
おいて、ワークの加工形状や加工部位によって工具を使
いわけてい・る、そのため、素材形状や加工形状をグラ
フィックディスプレイに表示しながら、会話形式で図面
に従ってＮＣデータをプログラミングするＣＮＣ（コン
ピュータＮＣ）が開発され、加工データを指定して加工
プログラムを自動的に作成するにあたって、あらかじめ
工作機械側に準備されている工具のリスト（ツールリス
ト）を作成しておいて。In such cutting processes, the tools used are different depending on the type of machining, such as drilling and flat machining, and tools (bites) of various shapes are prepared even for the same flat machining, and the machining shape of the workpiece is For this reason, a CNC (computer NC) was developed that programs NC data interactively according to drawings while displaying the material shape and machining shape on a graphic display, allowing users to specify machining data. Before automatically creating a machining program, first create a list of tools prepared on the machine tool side (tool list).

ワークの材質や加工部位に応じた最適工具の自動選択が
行なわれている。さらに選択された工具を駆動するとき
の速度や切込量の補正値などの切削条件が変化するため
、通常は複数の切削条件ファイルが準備され、選択され
た工具に応じたファイルに従って工具軌跡を描画し、加
工データを決定するようにしていた。The optimal tool is automatically selected according to the material of the workpiece and the part to be machined. Furthermore, since the cutting conditions such as the speed and depth of cut correction value when driving the selected tool change, multiple cutting condition files are usually prepared and the tool trajectory is determined according to the file corresponding to the selected tool. It was designed to draw and determine processing data.

（発明が解決しようとする問題点） ところが、加工図面が複雑な場合には、頻繁にその切削
条件が変化するため、オペレータは工具や切削領域を自
由に指定することができるが、その作業には熟練を要す
る。そのため自動工程決定機能を使用して全工程を自動
的に決定しようとすれば、工具軌跡の描画のみでは選択
された工具とチャックあるいはテールストックとの干渉
チェックが十分には行なえないため、作成された加工デ
ータにより加工テープなどでＮＣ装置の運転したときに
、アラームが発生するという問題点があった。(Problem to be solved by the invention) However, when the machining drawings are complex, the cutting conditions change frequently. requires skill. Therefore, if you try to automatically determine all processes using the automatic process determination function, it is not possible to check the interference between the selected tool and the chuck or tailstock by drawing only the tool path, so the tool path cannot be created. There has been a problem in that an alarm is generated when the NC device is operated with a processing tape or the like based on the processing data obtained.

木発・明の目的は、工具データを記憶しているツーリン
グファイルを利用して工具選択時に素材形状、加工形状
とともに工具形状を自動的に描画することで、最適な工
具を選択でき、容易に適正なＮＣ加工テープを作成する
ことのできるようにした工具形状の自動描画方式を提供
するにある。The purpose of the invention is to automatically draw the tool shape along with the material shape and machining shape when selecting a tool by using a tooling file that stores tool data, so that the optimal tool can be selected easily. An object of the present invention is to provide an automatic drawing method for a tool shape that can create a proper NC-processed tape.

（問題点を解決するための手段） 本発明では、対話形の加工プログラムと、工具データと
して使用されるツーリングファイルとを記憶する記憶手
段と、加工データを入力するデータ入力手段と、ワーク
の加工部位および加工形状など指定された加工データに
応じて最適工具を選択する制御手段と、選択された工具
の形状を描画する画像表示手段とを具備してなり、前記
画像表示手段により素材形状、加工形状と同時に工具形
状を自動的に描画するようにしている。(Means for Solving the Problems) The present invention includes a storage means for storing an interactive machining program and a tooling file used as tool data, a data input means for inputting machining data, and a workpiece machining means. It is equipped with a control means for selecting an optimal tool according to specified machining data such as a part and a machining shape, and an image display means for drawing the shape of the selected tool, and the image display means displays the material shape and machining. The tool shape is automatically drawn at the same time as the shape.

（作用） 即ち、本発明では、ＮＧ指令データを作成するうえで必
要な工具データを登録している記憶部から１選択された
工具の形状を描画するためのデータを呼び出して、更に
必要なパラメータを指定することによって、工具形状の
描画を行なわせることができる。(Function) That is, in the present invention, data for drawing the shape of one selected tool is called from the storage unit in which tool data necessary for creating NG command data is registered, and further necessary parameters are read. By specifying , the tool shape can be drawn.

（実施例） 以丁、本発明の一実施例を図面に基づいて説明する。(Example) Hereinafter, one embodiment of the present invention will be described based on the drawings.

マ・ｆクロプロセッサを用いて加工プログラムを処理し
、バイトなど所定の工具を選択して駆動制御するＮＣ装
置は、第２図にそのブロック構成を示すように、ＣＰＵ
Ｉのバス２にデータ入力装置３、表示装置４、プログラ
ムメモリ５、工１具データなどを記憶するデータメモリ
６および加工機７の駆動軸を制御する制御部８などが接
続されている。An NC device that processes a machining program using a macroprocessor, selects a predetermined tool such as a cutting tool, and controls its drive, has a CPU
Connected to the I bus 2 are a data input device 3, a display device 4, a program memory 5, a data memory 6 for storing tool data, etc., and a control section 8 for controlling the drive shaft of the processing machine 7.

第３図は、オペレータがこの種のＮＣ装置で、対話形の
加工プログラムに基づきワークを所定形状に加工すると
き、表示装置４で表示される最適工具を決定するための
ツーリングファイルの一例を示している。FIG. 3 shows an example of a tooling file for determining the optimum tool displayed on the display device 4 when an operator uses this type of NC device to machine a workpiece into a predetermined shape based on an interactive machining program. ing.

ツーリングファイルは、メニューの大分類を指定するマ
クロ命令で内径加工を指定し、前記プログラムメモリ５
から呼び出されたカスタムマクロのプログラム番号を指
定して詳細メニューを呼び出して所定の内径加工のデー
タを入力したときに、工具自動決定用のプログラムが働
いて表示装置４に表示される。このツーリングファイル
内のデータには、工具タイプ、刃先半径、切刃角、刃先
角、刃先保護角、仮想刃先位置、ホルダ径、工程の種類
、工具選択番号、工具補正番号、取付角、取付位置、Ｘ
ミラーイメージなど必要なデータを設定できるようにな
っている。The tooling file specifies internal diameter machining using a macro command that specifies the major category of the menu, and stores the tooling file in the program memory 5.
When the user specifies the program number of the custom macro called from , calls the detailed menu, and inputs predetermined internal diameter machining data, an automatic tool determination program is activated and displayed on the display device 4. The data in this tooling file includes tool type, cutting edge radius, cutting edge angle, cutting edge angle, cutting edge protection angle, virtual cutting edge position, holder diameter, process type, tool selection number, tool compensation number, mounting angle, mounting position. ,X
Necessary data such as mirror images can be set.

第１図は、ｘ−Ｚ座標面に素材形状（破線で示す）、加
工形状（実線で示す）と同時に描画された工具形状１０
の一例を示している。Figure 1 shows tool shape 10 drawn simultaneously on the x-Z coordinate plane with the material shape (indicated by a broken line) and the machining shape (indicated by a solid line).
An example is shown.

自動プログラミングの一般的な手順としては、まず座標
系の選択が行なわれ、つぎに素材形状と寸法の入力、加
工形状とその寸法の入力などが行なわれた後に、工具選
択が行なわれる。描画された工具形状ｌＯは、バイト工
具の例であり、切刃角（ＡＣ＝α）、刃先角（ＡＮ＝β
）、取付角（ＡＳ＝γ）が図示の如くに定義されていて
、刃先の位置を座標原点に合せたとき、パラメータ９を
指定すルト座標点Ａ　（Ｘ＋　、　　Ｚｓ　）　、　Ｂ
　（Ｘ２、Ｚ２）は次式で計算できる。The general procedure for automatic programming is to first select a coordinate system, then input the material shape and dimensions, input the machining shape and its dimensions, and then select a tool. The drawn tool shape lO is an example of a bite tool, and has a cutting edge angle (AC=α), a cutting edge angle (AN=β
), the mounting angle (AS=γ) is defined as shown, and when the position of the cutting edge is aligned with the coordinate origin, the root coordinate point A (X+, Zs), B that specifies parameter 9.
(X2, Z2) can be calculated using the following formula.

Ｘ　Ｈ＝　−ｍ５ｉｎ（’）’　−α）Ｚ　ｍ＝　−ｍ
ｃｏｇ（ｙ　−ａ） Ｘ２　＝　−ｍ５ｉｎ（γ−α−β） Ｚ２　＝−ｍｃｏｓ（ｙ−ａ−β） ただし、　ｍ＝　Ｉ　／　ｌ　ｃｏｓ（β／２）１した
がって、工具番号や補正番号を入力して。X H= -m5in(')' -α)Z m= -m
cog(y -a) Enter it.

表示画面においてパラメータ口とともに切刃角、刃先角
などのデータを指定することにより、工具形状が自動的
に描画されるので、指定された工具の干渉やワークの削
り残しなどをオペレータは容易に発見できる。By specifying data such as the cutting edge angle and tip angle along with the parameters on the display screen, the tool shape is automatically drawn, making it easy for the operator to spot interference with the specified tool or uncut parts on the workpiece. can.

第４図（ａ）乃至（ｄ）は、それぞれ丸駒バイト工具、
溝加工工具、隅取り工具、ドリル工具の各形状の描画例
を示している。FIGS. 4(a) to 4(d) show a round bit tool,
Drawing examples of each shape of a groove processing tool, a corner cutting tool, and a drill tool are shown.

このように対話形の加工プログラムを実行する際に５．
上記ツーリングファイルから最適工具を選択して、表示
装置４により第１図のようにワークとともに工具形状を
も合せて表示するプログラムを内蔵しておくことで、容
易に工具選択が行なえる。In this way, when executing an interactive machining program, 5.
By having a built-in program that selects the optimum tool from the tooling file and displays the tool shape along with the workpiece on the display device 4 as shown in FIG. 1, tool selection can be easily performed.

（発明の効果） 以上説明した様に、本発明の自動描画方式によれば、工
具データを記憶しているツーリングファイルを利用して
工具選択時に素材形状、加工形状とともに工具形状を自
動的に描画できるので、最適な工具を選択でき、容易に
適正なＮＣ加工テープを作製することができる。(Effects of the Invention) As explained above, according to the automatic drawing method of the present invention, the tool shape is automatically drawn along with the material shape and machining shape when selecting a tool by using a tooling file that stores tool data. Therefore, an optimal tool can be selected and a suitable NC-processed tape can be easily produced.

【図面の簡単な説明】[Brief explanation of the drawing]

第１図は、本発明による描画された工具形状の一例を示
す説明図、第２図は、本発明の一実施例のブロック図、
第３図は、最適工具を決定するためのツーリングファイ
ルの一例を示す説明図、第４図（Ｌ）乃至（ｄ）は、工
具形状の描画のための座標点の設定例を示す説明図であ
る。 ｌ・・・ＣＰＵ、３・・・データ入力装置、４・・・表
示装置、５・・・プログラムメモリ、６・・・データメ
モリ、７・・・加工機、１０・・・工具。 特許出願人　　ファナック株式会社 代　　理　　人　　　弁理士　　辻　　　　　　　　實
第４図（α） 第４図（ｂ）FIG. 1 is an explanatory diagram showing an example of a drawn tool shape according to the present invention, FIG. 2 is a block diagram of an embodiment of the present invention,
Fig. 3 is an explanatory diagram showing an example of a tooling file for determining an optimal tool, and Figs. 4 (L) to (d) are explanatory diagrams showing examples of setting coordinate points for drawing a tool shape. be. l... CPU, 3... data input device, 4... display device, 5... program memory, 6... data memory, 7... processing machine, 10... tool. Patent applicant Fanuc Co., Ltd. Representative Patent attorney Minoru Tsuji Figure 4 (α) Figure 4 (b)

Claims (1)

【特許請求の範囲】[Claims] 対話形の加工プログラムと、工具データとして使用され
るツーリングファイルとを記憶する記憶手段と、加工デ
ータを入力するデータ入力手段と、ワークの加工部位お
よび加工形状など指定された加工データに応じて最適工
具を選択する制御手段と、選択された工具の形状を描画
する画像表示手段とを具備してなり、前記画像表示手段
により素材形状、加工形状と同時に工具形状を自動的に
描画するようにしたことを特徴とする工具形状の自動描
画方式。A storage means for storing an interactive machining program and a tooling file used as tool data, a data input means for inputting machining data, and an optimum method according to the specified machining data such as the machining part of the workpiece and machining shape. The tool is equipped with a control means for selecting a tool, and an image display means for drawing the shape of the selected tool, and the tool shape is automatically drawn at the same time as the material shape and the machining shape by the image display means. This is an automatic drawing method for tool shapes.
JP60140793A 1985-06-27 1985-06-27 Tool shape display device Expired - Fee Related JPH0611458B2 (en)

Priority Applications (5)

Application Number Priority Date Filing Date Title
JP60140793A JPH0611458B2 (en) 1985-06-27 1985-06-27 Tool shape display device
PCT/JP1986/000320 WO1987000106A1 (en) 1985-06-27 1986-06-24 System for automatically drawing profile of tool
US07/026,446 US4922440A (en) 1985-06-27 1986-06-24 Tool profile automatic graphic display system
EP19860903615 EP0229848A4 (en) 1985-06-27 1986-06-24 System for automatically drawing profile of tool.
KR1019870700154A KR930010590B1 (en) 1985-06-27 1986-06-24 Tool profile automatic graphic display system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP60140793A JPH0611458B2 (en) 1985-06-27 1985-06-27 Tool shape display device

Publications (2)

Publication Number Publication Date
JPS624551A true JPS624551A (en) 1987-01-10
JPH0611458B2 JPH0611458B2 (en) 1994-02-16

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JP60140793A Expired - Fee Related JPH0611458B2 (en) 1985-06-27 1985-06-27 Tool shape display device

Country Status (5)

Country Link
US (1) US4922440A (en)
EP (1) EP0229848A4 (en)
JP (1) JPH0611458B2 (en)
KR (1) KR930010590B1 (en)
WO (1) WO1987000106A1 (en)

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Also Published As

Publication number Publication date
KR870700449A (en) 1987-12-29
EP0229848A4 (en) 1989-05-30
JPH0611458B2 (en) 1994-02-16
WO1987000106A1 (en) 1987-01-15
KR930010590B1 (en) 1993-10-30
US4922440A (en) 1990-05-01
EP0229848A1 (en) 1987-07-29

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